cb_figure_eight.hpp

Go to the documentation of this file.

// Copyright 2025 Robosoft Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <chrono>
#include <cmath>
#include <smacc2/smacc.hpp>
 
namespace cl_px4_mr
{
 
class CpTrajectorySetpoint;
 
class CbFigureEight : public smacc2::SmaccAsyncClientBehavior, public smacc2::ISmaccUpdatable
{
public:
  CbFigureEight(
    float centerX, float centerY, float altitude, float size = 5.0f, float speed = 0.5f,
    int numLoops = 1);
 
  void onEntry() override;
  void onExit() override;
  void update() override;
 
private:
  float centerX_;
  float centerY_;
  float altitude_;
  float size_;
  float speed_;
  int numLoops_;
 
  float t_ = 0.0f;
  std::chrono::steady_clock::time_point lastUpdateTime_;
 
  CpTrajectorySetpoint * trajectorySetpoint_ = nullptr;
};
 
}  // namespace cl_px4_mr